Index
Table of Content
sudo apt install ros-humble-slam-toolbox
online: Working on a live data stream Asynchronous: Always process the most recent scan to avoid lagging, even by skipping scans
Mapping#
slam_toolbox part of config file
# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_footprint
scan_topic: /scan
use_map_saver: true
mode: mapping #localization
ros2 launch slam_toolbox online_async_launch.py params_file:=src/bot_description/config/mapper_params_online_async.yaml use_sim_time:=true


- Save map: save map in old format
- Serialize: Save map in new format usage by slam_toolbox
create file in rviz run location
old format - map.yaml - map.pgm
new format - map.posegraph - map.data
Localization#
AMCL#
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
```bash title=”run map server
ros2 run nav2_map_server map_server
–ros-args -p yaml_filename:=map_1697548542.yaml -p use_sim_time:=true
```bash title="activate map server"
ros2 run nav2_util lifecycle_bringup map_server